SIFT based monocular SLAM with multi-clouds features for indoor navigation

Abbas M. Ali, Md. Jan Nordin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This work introduces a monocular SLAM method, which uses the Scale Invariant Features Transform (SIFT) representation for the scene. The scene represented as clouds of SIFT features within the map. This hierarchical representation of space, serving to estimate the current direction in the environment within the current session. The system exploits the tracking of the same features of successive frames to calculate scalar weights for these features, to build a map of the environment indicating the camera movement, helping the blind persons to navigate more confidently through auditory pathway of their surroundings. EKF is used to estimate the features tracked within the successive frames. The system is tested for using the proposed method with a hand-held camera walking in indoor environment. The results show a good estimation on the spatial locations of the camera within a few milliseconds. The paper shows an electronic cane for navigating in indoor environment using these clouds of features for long-term appearance-based localization of a cane with web camera vision as the external sensor.

Original languageEnglish
Title of host publicationIEEE Region 10 Annual International Conference, Proceedings/TENCON
Pages2326-2331
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE Region 10 Conference, TENCON 2010 - Fukuoka
Duration: 21 Nov 201024 Nov 2010

Other

Other2010 IEEE Region 10 Conference, TENCON 2010
CityFukuoka
Period21/11/1024/11/10

Fingerprint

Navigation
Cameras
Mathematical transformations
Sensors

Keywords

  • Clouds of features
  • EKF
  • Mono-SLAM
  • SIFT

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Ali, A. M., & Nordin, M. J. (2010). SIFT based monocular SLAM with multi-clouds features for indoor navigation. In IEEE Region 10 Annual International Conference, Proceedings/TENCON (pp. 2326-2331). [5685972] https://doi.org/10.1109/TENCON.2010.5685972

SIFT based monocular SLAM with multi-clouds features for indoor navigation. / Ali, Abbas M.; Nordin, Md. Jan.

IEEE Region 10 Annual International Conference, Proceedings/TENCON. 2010. p. 2326-2331 5685972.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ali, AM & Nordin, MJ 2010, SIFT based monocular SLAM with multi-clouds features for indoor navigation. in IEEE Region 10 Annual International Conference, Proceedings/TENCON., 5685972, pp. 2326-2331, 2010 IEEE Region 10 Conference, TENCON 2010, Fukuoka, 21/11/10. https://doi.org/10.1109/TENCON.2010.5685972
Ali AM, Nordin MJ. SIFT based monocular SLAM with multi-clouds features for indoor navigation. In IEEE Region 10 Annual International Conference, Proceedings/TENCON. 2010. p. 2326-2331. 5685972 https://doi.org/10.1109/TENCON.2010.5685972
Ali, Abbas M. ; Nordin, Md. Jan. / SIFT based monocular SLAM with multi-clouds features for indoor navigation. IEEE Region 10 Annual International Conference, Proceedings/TENCON. 2010. pp. 2326-2331
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